Personal, green-energy, transportation device with single wheel and self-balancing function

ABSTRACT

The present invention relates to a personal, green-energy, transportation device with single wheel and self-balancing function. The personal, green-energy, transportation device can be propelled by the manpower and simultaneously execute the self-balancing function thereof. The device comprises: a body, a wheel, a pedal portion, a roller chain, an in-wheel motor, and a sensing-control module, wherein the sensing-control module detects the balancing condition of the body when the personal, green-energy, transportation device is driven, and then the sensing-control module controls the in-wheel motor to output a balancing torque for maintaining the self balance of the body.

BACKGROUND OF THE INVENTION

1. Technical Field

The present invention relates to a personal transportation device with asingle wheel, and more particularly, to a personal, green-energy,transportation device with a single wheel and a self-balancing function,in which when a driver moves the center of gravity thereof or provides apedaling power to the personal transportation device, a sensing-controlmodule detects the balancing change of the personal transportationdevice and an in-wheel motor outputs a balancing torque which canmaintain the self-balance of the personal transportation device andassist the driver to move the device forward or backward.

2. Description of Related Art

The prototype of a bicycle is first appeared in the manuscript writtenby Leonardo da Vinci, however, the entity of the bicycle is manufacturedin the end of the eighteenth century. After near one hundred year'sevolution, modern form of the bicycle is born in 1874. A Britishengineer named Roson designs and build a bicycle with a roller chain andsprockets. In 1886, Another British named John. K. Stahly designs a newstyle bicycle fitted with a fork and brakes. The sizes of the front andthe rear wheel of the new style bicycle are the same in order tomaintain balance, moreover, rubber wheels are firstly adopted in the newstyle bicycle of Stahly, such that, Stahly is later known as the “fatherof a bike”. In 1888, Ireland's veterinary Dunlop, who mounts aninflatable rubber into the bicycle wheels such that the bicycle wheelsbecome inflatable, which makes the bicycle more complete.

In the early years, bicycles are treated as a main personaltransportation device. However, with industrialization and theadvancement of science and technology, medium-size and heavy vehiclesbegin to use the internal combustion engine to generate power. Internalcombustion engines are also used widely to propel personaltransportation devices such as motorcycles. In recent years, there aremany countries aware of the environmental protection, so that themedium-size and heavy vehicles with the internal combustion enginescause major environment pollutions are often criticized by environmentalgroups. As a result, light-weight electric transportation devicescapable of saving energy and protecting environment are researched,developed and manufactured under the advocacy of public policies and thesponsorship of government projects.

One of the personal light-weight electric transportation devices isfirstly proposed by an American inventor Dean Kamen. Mimicking thesensory organs of balance and the feet of a man, Dean Kamen adopts ahigh-precision solid-state gyroscope and servomotors in the device, andin addition, Dean Kamen utilizes a microprocessor as the central controlunit. The device possesses self-balancing function and is sold under thename “Segway”. In Segway, the high-precision solid-state gyroscope isthe sensor to detect the balancing change of the device and to output asignal to the micro-processor. Then, after processing the signal, themicro-processor controls the servomotor such that the dynamic balance ofthe whole device is maintained.

After Segway is proposed, a variety of light electric transportationdevices with the self-balancing function, including “Enicycle” and“U3-X”, have been proposed. Compared to vehicles using internalcombustion engines, Segway, Enicycle and U3-X are more beneficial to theenvironment. However, since the power of Segway, Enicycle and U3-X comessolely from electricity, the driver's manpower can not be input to thesedevices to be the main driving force for saving energy sake. For thisreason, Segway, Enicycle and U3-X can not be treated as truegreen-energy transportation devices.

In view of the fact that the light-weight electric transportationdevices still have rooms for improvement from the green-energy aspect,the inventors of the present application have made great efforts to makeinnovative research and eventually conceived a personal, green-energy,transportation device with single wheel and self-balancing function.

BRIEF SUMMARY OF THE INVENTION

The primary objective of the present invention is to provide a personal,green-energy, transportation device with a single wheel and aself-balancing function, in which the manpower can be adopted as adriving force and an electric in-wheel motor is used for executing theself-balancing function, moreover, a sensing-control module detects thebalancing change of the personal transportation device, and then outputsa control signal to an in-wheel motor to maintain the self-balance ofthe personal transportation device.

Accordingly, to achieve the abovementioned objective, the inventorspropose a personal, green-energy, transportation device with a singlewheel and a self-balancing function, which comprises: a body, a wheel, apedal portion, a roller chain, an in-wheel motor, and a sensing-controlmodule, wherein the body comprises: a body, which comprises: a mainshaft portion, having a main shaft first end and a main shaft secondend, wherein a handle is attached to the main shaft first end, and afirst sprocket wheel is disposed between the main shaft first end andthe main shaft second end; at least one extension shaft portion, havinga extension shaft first end and an extension shaft second end, in whichthe extension shaft first end is connected to the main shaft portion;and a supporting portion, having at least one supporting bar and asupporting base, wherein one end of the supporting bar is connected tothe supporting base for supporting the supporting base;

a wheel, connected to the extension shaft second end through an centeraxle thereof and having a second sprocket wheel, wherein the wheel canbe driven by a driving force via the second sprocket wheel;

a pedal portion, having two pedals and two axles, in which one end ofthe axle is connected to the pedal, and the another end of the axle isconnected to the first sprocket wheel;

a roller chain, connecting the first sprocket wheel and the secondsprocket wheel, wherein when applying the driving force to the pedalportion to rotate the first sprocket wheel, the roller chain transmits amechanical power to the second sprocket wheel and consequently makes thewheel to rotate;

an in-wheel motor, disposed on the wheel and outputting a balancingtorque to maintain the self balance of the body; and

a sensing-control module, disposed on the supporting base, wherein thesensing-control module is able to sense the balancing condition of thebody, and to control the in-wheel motor for keeping the self balance ofthe body, and the sensing-control module comprises: an inertia-sensingunit, having an inclinometer and a gyroscope, wherein the inclinometeris adopted for detecting a tilt of the body and outputs a tilt signal,and the gyroscope is used for detecting an angular velocity of the bodyand outputting an angular velocity signal; a control unit, electricallyconnected to the inertia-sensing unit for receiving the tilt signal andthe angular velocity signal, and outputting a control signal afterprocessing the tilt signal and the angular velocity signal; and

a motor-driving unit, electrically connected to the control unit forreceiving the control signal, and, according to the control signal,controlling the in-wheel motor to output the balance torque formaintaining the self balance of the body.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The invention as well as a preferred mode of use and advantages thereofwill be best understood by referring to the following detaileddescription of an illustrative embodiment in conjunction with theaccompanying drawings, wherein:

FIG. 1 is a framework diagram of a personal, green-energy,transportation device with single wheel and self-balancing functionaccording to the present invention;

FIG. 2 is an operation schematic diagram of the personal, green-energy,transportation device with single wheel and self-balancing functionaccording to the present invention;

FIG. 3 is the framework diagram of a sensing control unit of thepersonal, green-energy, transportation device with single wheel andself-balancing function according to the present invention;

FIG. 4 is the framework diagram of the personal, green-energy,transportation device installed with two auxiliary mechanisms accordingto the present invention; and

FIG. 5 is the operation schematic diagram of using the auxiliarymechanisms to turn the personal, green-energy, transportation device.

DETAILED DESCRIPTION OF THE INVENTION

To more clearly describe a personal, green-energy, transportation devicewith single wheel and self-balancing function according to the presentinvention, embodiments of the present invention will be described indetail with reference to the attached drawings hereinafter.

With reference to FIG. 1, which illustrates a framework diagram of apersonal, green-energy, transportation device with single wheel andself-balancing function according to the present invention, thepersonal, green-energy, transportation device 1 with single wheel andself-balancing function includes: a body 11, a wheel 13, a pedal portion14, a roller chain 15, an in-wheel motor 17, a sensing-control module18, and a seat cushion 1A, wherein the body 11 includes: a main shaftportion 111, having a main shaft first end 1111 and a main shaft secondend 1112 that a handle 1113 is attached to the main shaft first end1111, and a first sprocket wheel 1114 is disposed between the main shaftfirst end 1111 and the main shaft second end 1112; two extension shaftportions 112, wherein each of the extension shaft portions 112 have anextension shaft first end 1121 and an extension shaft second end 1122that the two extension shaft first ends 1121 are connected to the mainshaft portion 111; and a supporting portion 116, which has twosupporting bars 1161 and a supporting base 1162, wherein one end of thesupporting bar 1161 is connected to the supporting base 1162 forsupporting the supporting base 1162. In addition, the body 11 furtherincludes a supporting member 1115, which is disposed on the main shaftsecond end 1112 and able to prevent the personal, green-energy,transportation device 1 from falling when the power is off.

Referring to FIG. 1 again, the wheel 13 is connected to the extensionshaft second end 1122 through a center axle thereof and has a secondsprocket wheel 1311. The wheel 13 can be driven by a driving force viathe second sprocket wheel 1311, wherein the driving force is generatedby a driver. The pedal portion 14 has two pedals 141 and two axles 142.One end of the axle 142 is connected to the pedal 141, and the anotherend of the axle 142 is connected to the first sprocket wheel 1114. Theroller chain 15 is disposed on the first sprocket wheel 1114 and thesecond sprocket wheel 1311. When a driver pedals the two pedals 141, amechanical force is used as the driving force and applied to the wholepedal portion 14 and in the way that the first sprocket wheel 1114 isrotated and the roller chain 15 drives the second sprocket wheel 1311 torotate so as to transfer the driving force to the wheel 13. The in-wheelmotor 17 is disposed on the central part of wheel 13, wherein thein-wheel motor 17 can output a balancing torque to maintain the selfbalance of the body 11 when the personal, green-energy, transportationdevice 1 is driven.

The sensing-control module 18 is disposed on the supporting base 1162,wherein the sensing-control module 18 is able to sense the balancingcondition of the body 11, and to control the in-wheel motor 17 to keepthe self balance of the body 11. The sensing-control module 18 includes:an inertia-sensing unit 181, having an inclinometer 1811 and a gyroscope1812, wherein the inclinometer 1811 is adopted for detecting the tilt ofthe body 11 and outputs a tilt signal, and the gyroscope 1812 is usedfor detecting the angular velocity of the body 11 and outputs an angularvelocity signal; a control unit 182, which is electrically connected tothe inertia-sensing unit 181 for receiving the tilt signal and theangular velocity signal, and outputting a control signal afterprocessing the tilt signal and the angular velocity signal; and amotor-driving unit 183, which is electrically connected to the controlunit 182 for receiving the control signal, and controlling the in-wheelmotor 17 to output the balancing torque for maintaining the self balanceof the body 11 according to the control signal. Moreover, thesensing-control module 18 further includes a power supply unit 184,which is electrically connected to the inertia-sensing unit 181, controlunit 182, motor-driving unit 183, and the in-wheel motor 17 forsupplying the electricity. When the personal, green-energy,transportation device 1 is driven downhill, or the personal,green-energy, transportation device 1 is driven at high speed, the extradriving force, i.e., the mechanical power, can be transformed into anelectrical power by the motor-driving unit 183 and the control unit 182,and the electrical power is stored in the power supply unit 184.

Please refer to FIG. 2, which illustrates an operation schematic diagramof the personal, green-energy, transportation device. As shown in FIG.2, when a driver 2 drives the personal, green-energy, transportationdevice 1 of the present invention, the driver 2 sits on the seat cushion1A, and the hands of the driver 2 hold the handle 1113 for controllingthe body 11. The feet of the driver 2 are placed on the two pedals,respectively. The driver drives the device by pushing the two pedals torotate the first sprocket wheel 1114 and the second sprocket wheel 1311.By doing so, the wheel 13 is rotated which makes the personal,green-energy, transportation device 1 to move by manpower.

Referring to FIG. 2 again, and simultaneously referring to FIG. 3, whichillustrates the framework diagram of the sensing-control unit of thepersonal, green-energy, transportation device according to the presentinvention, when the driver 2 drives the personal, green-energy,transportation device 1 by the manpower, the sensing-control unit 18detects the balancing condition of the body 11. As shown in FIG. 3, inthe sensing-control unit 18, the inclinometer 1811 detects the tilt ofthe body 11 and the gyroscope 1812 detects the angular velocity of thebody 11. When the driver 2 operates the personal, green-energy,transportation device 1 to move forward and backward, the inclinometer1811 and the gyroscope 1812 send the tilt signal and the angularvelocity signal to the control unit 182, respectively; then, the controlunit 182 processes the tilt signal and the angular velocity signal andoutputs the control signal to the motor-driving unit 183. According tothe control signal, the motor-driving unit 183 controls the in-wheelmotor 17 to output a balancing torque for keeping the self balance ofthe body 11.

Referring to FIG. 4 and FIG. 5, which respectively illustrate theframework diagram of the personal, green-energy, transportation deviceinstalled with two auxiliary mechanisms, and the operation schematicdiagram of using the auxiliary mechanisms to turn the personal,green-energy, transportation device. As shown in FIG. 4 and FIG. 5, twoauxiliary mechanisms 19 are disposed on two sides of the wheel 13,respectively. Each of the auxiliary mechanisms 19 include: an auxiliarywheel 191, an auxiliary axle 192 and a shock-absorbing member 193,wherein one end of the auxiliary axle 192 is connected to the extensionshaft second end 1122, and the another end of the auxiliary axle 192 isconnected to the auxiliary wheel 191, and the shock-absorbing member 193is disposed on the auxiliary axle 192. As shown in FIG. 5, the driver 2(the driver 2 is not shown in FIG. 5) is able to turn the personal,green-energy, transportation device when the driver applies a mechanicalbrake on one auxiliary wheel 191, or shifts the center of gravitythereof to produce velocity deference between two opposite auxiliarywheels 191, such that the personal, green-energy, transportation device1 may be turned around by a small radius of rotation.

Thus, the personal, green-energy, transportation device with the singlewheel and the self-balancing function according to the present inventionhas been disclosed completely and clearly in the above description. Insummary, the present invention has the following advantages:

-   -   1. Through the sensing-control module and the in-wheel motor, it        is able to keep the self-balance of the personal, green-energy,        transportation device and make the device to move forward or        backward.    -   2. Using the two auxiliary mechanisms, the driver can turn the        personal, green-energy, transportation device by applying the        mechanical brake or laterally change the center of gravity        thereof    -   3. When the individual green-energy carrying device is driven        downhill, or is driven at high speed, the extra driving force,        i.e., the mechanical power, can be transformed into the        electrical power by the motor-driving unit and the control unit,        and the electrical power is stored in the power supply unit.    -   4. The supporting member can hold the personal, green-energy,        transportation device statically when the power of the personal,        green-energy, transportation device is off; moreover, when the        personal, green-energy, transportation device is held statically        and the wheel is lifted off the ground, it can be used as an        exercise bike. When the driver operates the exercise bike, the        driver's manpower is transformed to the electrical power by the        motor-driving unit and the control unit, and then the electrical        power is also stored in the power supply unit; meanwhile, the        sensing-control unit changes the mechanical resistance felt by        the driver.

The above description is made on embodiments of the present invention.However, the embodiments are not intended to limit scope of the presentinvention, and all equivalent implementations or alterations within thespirit of the present invention still fall within the scope of thepresent invention.

1. A personal, green-energy, transportation device with single wheel andself-balancing function, comprising: a body, comprising: a main shaftportion, having a main shaft first end and a main shaft second end,wherein a handle is attached to the main shaft first end, and a firstsprocket wheel being disposed between the main shaft first end and themain shaft second end; at least one extension shaft portion, having anextension shaft first end and an extension shaft second end, wherein theextension shaft first end is connected to the main shaft portion; and asupporting portion, having at least one supporting bar and a supportingbase, wherein one end of the supporting bar is connected to thesupporting base for supporting the supporting base; a wheel, beingconnected to the extension shaft second end through an center axlethereof and having a second sprocket wheel, wherein the wheel can bedriven by a driving force via the second sprocket wheel; a pedalportion, having two pedals and two axles, wherein one end of the axle isconnected to the pedal, and the another end of the axle is connected tothe first sprocket wheel; a roller chain, connecting the first sprocketwheel and the second sprocket wheel, wherein when applying the drivingforce to the pedal portion to rotate the first sprocket wheel, theroller chain transmitting a mechanical power to the second sprocketwheel and consequently making the wheel to rotate; an in-wheel motor,being disposed on the wheel and outputting a balancing torque tomaintain the self balance of the body; and a sensing-control module,being disposed on the supporting base, wherein the sensing-controlmodule is able to sense the balancing condition of the body and controlthe in-wheel motor to keep the self balance of the body, and comprises:an inertia-sensing unit, having an inclinometer and a gyroscope, whereinthe inclinometer is adopted for detecting the tilt of the body andoutputs a tilt signal, the gyroscope being used for detecting theangular velocity of the body and outputting an angular velocity signal;a control unit, being electrically connected to the inertia-sensing unitfor receiving the tilt signal and the angular velocity signal, andoutputting a control signal after processing the tilt signal and theangular velocity signal; and a motor-driving unit, being electricallyconnected to the control unit for receiving the control signal, andaccording to the control signal, controlling the in-wheel motor tooutput the balance torque for maintaining the self balance of the body.2. The personal, green-energy, transportation device of claim 1, furthercomprising: two auxiliary mechanisms, with each of the auxiliarymechanisms having an auxiliary wheel, an auxiliary axle and ashock-absorbing member that one end of the auxiliary axle beingconnected to the extension shaft second end, the other end of theauxiliary axle being connected to the auxiliary wheel, and theshock-absorbing member being disposed on the auxiliary axle; and a seatcushion, being disposed on the supporting base and adopted for seating.3. The personal, green-energy, transportation device of claim 1, whereinthe body further comprises a support member, being attached to the mainshaft second end and being able to hold the personal, green-energy,transportation device statically when the power is off.
 4. The personal,green-energy, transportation device of claim 1, wherein the sensingcontrol module further comprises a power supply unit electricallyconnected to the inertia-sensing unit, control unit, motor-driving unit,and the in-wheel motor for supplying the electricity.
 5. The personal,green-energy, transportation device of claim 4, wherein the driver candrive the device in three modes: The first mode is purely electric modein which the driver moves the center gravity thereof forward or backwardand the self-balancing function of the transportation deviceautomatically drives the transportation device forward or backwardaccordingly. The second mode is the hybrid mode in which the driver canpedal the transportation device so that the manpower can assist thein-wheel motor to move the device forward, and the amount of assistancedepends on the posture of the driver. The third mode is the excise mode,in which when the transportation device is held statically and the wheelis lifted off the ground, the pedaling power of the driver istransformed to an electrical power by the motor-driving unit and thecontrol unit, and then the electrical power is also stored in the powersupply unit, meanwhile the control circuit can change the mechanicalresistance felt by the driver.
 6. The personal, green-energy,transportation device of claim 2, wherein a driver is able to turn thepersonal, green-energy, transportation device through the auxiliarywheel, the auxiliary axle and the shock-absorbing member if the driverlaterally changes the center of gravity thereof.